Pulsed arc welding control method and pulsed arc welding device

ABSTRACT

A pulse arc welding device is controlled so as to alternately repeat a peak current period in which a welding current is a peak current and a base current period in which the welding current is a base current smaller than the peak current, feed a welding wire to an object at a feeding speed while the welding current flows through the welding wire, generate an arc between the welding wire and the object, and weld the object. So as to keep an arc length of the arc to be constant, in the base current period, the feeding speed is set to a first feeding speed and, in the peak current period, the feeding speed is set to a second feeding speed which is larger than the first feeding speed and corresponds to the first feeding speed. By this method, good welding quality with reduced spattering and suppressed undercut can be obtained.

This application is a U.S. national stage application of the PCTinternational application No. PCT/JP2017/002091 filed on Jan. 23, 2017,which claims the benefit of foreign priority of Japanese patentapplication No. 2016-019856 filed on Feb. 4, 2016, the contents all ofwhich are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a pulse arc welding control method anda pulse arc welding device performing pulse arc welding while feeding awelding wire, a consumable electrode.

BACKGROUND ART

In a conventional pulse arc welding, in a case of high-speed welding bya mild steel pulse MAG welding, so as to suppress the undercut whichremains as grooves because an object is excavated and the excavatedportion is not sufficiently filled with molten metal, it is a commonconstruction pattern to lower a welding voltage, to shorten an arclength, and to perform welding while performing a short-circuit transferthe molten droplet. However, at the time of a short-circuit, ashort-circuit current increases from the start of the short-circuituntil a short-circuit is opened at a predetermined inclination.Accordingly, there is a case where the short-circuit current reaches ahigh value from 200 to 300 A when the short-circuit is opened andspattering is generated when the short-circuit is opened.

A pulse arc welding method is known in which the short-circuit currentis sharply reduced to a low value when a constriction (neck) is detectedimmediately before short-circuit opening in a process of rising theshort-circuit current until the short-circuit is opened at apredetermined inclination from the start of short-circuit at the time ofshort-circuit, so as to suppress the generation of the spattering (see,for example, PTL1). FIG. 9 illustrates a waveform of welding current Iat the time of generation of a short-circuit in the pulse arc welding ofthe related art. In this method, a constriction (neck) control isperformed to sharply reduce welding current I.

In a case where a short-circuit is generated during pulse welding, so asto open this short-circuit, a current with an inclination smaller thanthe inclination at the rising of the pulse current is applied, and whenthe short-circuit generated by this current application is released, theconstriction is detected and welding current is sharply reduced.Therefore, the influence of the welding current relating to thegeneration of spattering when the short-circuit is opened can bereduced, and as a result, the amount of spatter generated when theshort-circuit is opened can be reduced.

CITATION LIST Patent Literature

PTL 1: Japanese Patent Laid-Open Publication No. 2006-334601

SUMMARY

A pulse arc welding device is controlled so as to weld the object bygenerating an arc between the welding wire and the object by causing awelding current to flow through the welding wire while feeding thewelding wire to the object at a feeding speed such that the weldingcurrent alternately repeats a peak current period in which the weldingcurrent is a peak current and a base current period in which the weldingcurrent is a base current smaller than the peak current. The feedingspeed is controlled so as to keep an arc length of the arc to beconstant by setting the feeding speed to a first feeding speed in thebase current period, and by setting the feeding speed to a secondfeeding speed in the peak current period, the second feeding speed beinglarger than the first feeding speed and corresponding to the firstfeeding speed.

This method provides preferable welding quality with reduced spatteringand suppressed undercut.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram of a pulse arc welding device according toExemplary Embodiment 1.

FIG. 2 illustrates a welding current, a welding voltage, a feeding speedof a welding wire, and a state of molten droplet transfer in operationof the pulse arc welding device according to Embodiment 1.

FIG. 3 illustrates a welding current, a welding voltage, a feedingspeed, and a state of molten droplet transfer in operation of acomparative example of a pulse arc welding device.

FIG. 4 illustrates a welding current, a welding voltage, a feedingspeed, and a state of molten droplet transfer in another operation ofthe other pulse arc welding device according to Embodiment 1.

FIG. 5 illustrates the feeding speed of the welding wire of the pulsearc welding device according to Embodiment 1.

FIG. 6 is a schematic diagram of a pulse arc welding device according toExemplary Embodiment 2.

FIG. 7A illustrates a welding current, a welding voltage, a feedingspeed of a welding wire, and a state of molten droplet transfer inoperation of a pulse arc welding device according to Embodiment 2.

FIG. 7B is an enlarged view of the feeding speed illustrated in FIG. 7A.

FIG. 8 illustrates the feeding speed of the welding wire of the pulsearc welding device according to Embodiment 2.

FIG. 9 illustrates the welding current of a conventional pulse arcwelding.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS Exemplary Embodiment 1

FIG. 1 is a schematic diagram of pulse arc welding device 1001 accordingto Exemplary Embodiment 1. Pulse arc welding device 1001 mainly includeswelding power supply device 18 which is called a welding machine, androbot 21 which is called a manipulator.

Welding power supply device 18 includes welding power supply unit 18 athat outputs a welding output including welding current I and weldingvoltage V, and welding controller 18 b that controls welding powersupply unit 18 a. Welding power supply device 18 includes primaryrectifier 2 which rectifies an output of input power supply 1, switchingelement 3 which controls the welding output by controlling the output ofprimary rectifier 2, transformer 4 which insulates and converts electricpower from switching element 3, secondary rectifier 5 which rectifies asecondary side output of transformer 4, reactor 6 (also referred to asDCL) which is connected in series to secondary rectifier 5, and outputcontroller 7 which drives switch element 3. Welding power supply device18 includes welding voltage detector 8 which detects welding voltage V,welding current detector 9 which detects welding current I,short-circuit/arc detector 10 which determines whether or not thewelding state is a short-circuit state or an arc state based on anoutput of welding voltage detector 8 and/or an output of welding currentdetector 9, short-circuit controller 11 which controls output controller7 during a short-circuit period, and arc controller 12 which controlsoutput controller 7 during an arc period. Welding power supply device 18further includes wire-feeding controller 17, output terminal 29 a, andoutput terminal 29 b.

Arc controller 12 includes pulse waveform controller 13 includingpulse-rising controller 14, peak-current controller 15, andpulse-falling controller 16.

Robot controller 19 that controls operation of robot 21 includes weldingcondition setting unit 20 which sets welding conditions. Robotcontroller 19 is connected so as to be capable of communicating withwelding power supply device 18. Torch 26 is attached to robot 21.

Welding condition setting unit 20 which is provided in robot controller19 connected to welding power supply device 18 is for setting, e.g. awelding current and a welding voltage. Output terminal 29 a of weldingpower supply device 18 is electrically connected to chip 27 holdingwelding wire 23 passing through in torch 26, and supplies an electricpower to welding wire 23 via chip 27. Output terminal 29 b of weldingpower supply device 18 is electrically connected to object 24 andsupplies an electric power to object 24. Arc 28 is generated between atip portion of welding wire 23 and object 24. Wire feeder 25 including afeeding roller feeds welding wire 23 toward object 24 at feeding speedWF from welding wire storage unit 22 storing welding wire 23 toward chip27. Each of constituent portions constituting pulse arc welding device1001 illustrated in FIG. 1 may be configured to respectively alone ormay be configured by combining plural constituent portions.

FIG. 2 illustrates welding current I, welding voltage V, feeding speedWF, and a state of molten droplet transfer of pulse arc welding device1001. Welding power supply device 18 supplies welding voltage V andwelding current I to welding wire 23 to generate arc 28 between weldingwire 23 and object 24 and melts welding wire 23 to form molten droplet23 d at a tip of welding wire 23. Molten droplet 23 d moves and adheresto object 24 from the tip of welding wire 23 to weld object 24. Pulsearc welding device 1001 is configured to cause arc length H of arc 28 tobe constant and short enough not to short-circuit welding wire 23 andobject 24 in a molten droplet transfer (removal) state. In a case wheremolten droplet 23 d is formed at the tip of welding wire 23 and isconnected to welding wire 23, arc 28 is generated between molten droplet23 d formed at the tip of welding wire 23 and object 24. Therefore, in acase where molten droplet 23 d is formed at the tip of welding wire 23and is connected to welding wire 23, arc length H of arc 28 issubstantially equal to a distance between object 24 and molten droplet23 d formed at the tip of welding wire 23. In a case where moltendroplet 23 d is not formed at the tip of welding wire 23 or moltendroplet 23 d is not connected to the tip of welding wire 23, arc 28 isgenerated between object 24 and the tip of welding wire 23. In otherwords, in a case where molten droplet 23 d is not formed at the tip ofwelding wire 23 or molten droplet 23 d is not connected to the tip ofwelding wire 23, arc length H of arc 28 is substantially equal to adistance between object 24 and the tip of welding wire 23. Weldingcurrent I illustrated in FIG. 2 alternately repeats peak current periodIPT in which welding current I is peak current IP and base currentperiod IBT in which welding current I is base current IB smaller thanpeak current IP.

In welding current I, welding voltage V, a state of molten droplettransfer, and feeding speed WF of pulse arc welding device 1001illustrated in FIG. 2, feeding speed WF increases in peak current periodIPT during which molten droplet 23 d grows. A stable molten droplettransfer (removal) state in base current period IBT. This operationsuppresses the change of arc length H and allows arc length H toconstant value H1.

FIG. 3 illustrates welding current I, welding voltage V, a state of amolten droplet transfer state, and feeding speed WF of a comparativeexample of a pulse arc welding device. In the comparative example of thepulse arc welding device, feeding speed WF of welding wire 23 isconstant and the molten droplet transfer (removal) is performed in basecurrent period IBT. Accordingly, arc length H changes within a rangefrom value H1 to value H2.

The pulse waveform of welding current I illustrated in FIG. 3 is a basicpulse waveform realizing a stable molten droplet transfer (removal)periodically repeated in a steady welding period. The pulse waveform ofwelding current I includes pulse-rising period IPRT in which weldingcurrent I changes from base current IB to peak current IP, peak currentperiod IPT in which welding current I is peak current IP, pulse-fallingperiod IPFT in which welding current I changes from peak current IP tobase current IB, and base current period IBT in which welding current Iis base current IB. Such a periodic repeating of pulse-rising periodIPRT, peak current period IPT, pulse-falling period IPFT, and basecurrent period IBT at pulse frequency PHz provides a periodic moltendroplet transfer state.

In the molten droplet transfer illustrated in FIGS. 2 and 3, weldingcontroller 18 b adjusts pulse waveform parameters, such as peak currentIP, base current IB, pulse-rising period IPRT, peak current period IPT,pulse-falling period IPFT, and pulse current period IBT, which determinea pulse waveform so as to realize one pulse one drop in which moltendroplet 23 d is removed once per one pulse. The pulse waveformparameters changes according to, e.g. the welding condition of object 24and welding wire 23, and can be previously obtained by, e.g. aconstruction confirmation, such as an experiment.

Welding current I, welding voltage V, a state of molten droplet transferand feeding speed WF of the comparative example of the pulse arc weldingdevice illustrated in FIG. 3 will be detailed below. The weldingcontroller of the comparative example of the pulse arc welding devicestarts to change welding current I from base current IB toward peakcurrent IP at time point t1 at which pulse-rising period IPRT starts.Then, welding current I reaches peak current IP to start peak currentperiod IPT at time point t2 at which pulse-rising period IPRT ends. Thewelding controller maintains welding current I substantially at peakcurrent IP continuously in peak current period IPT. After that, thewelding controller starts to decrease welding current I from peakcurrent IP at time point t3 at which peak current period IPT ends andpulse-falling period IPFT starts. Then, welding current I reaches basecurrent IB smaller than peak current IP to start base current period IBTat time point t4 at which pulse-falling period IPFT ends. The weldingcontroller maintains welding current I substantially at base current IBcontinuously in base current period IBT. The welding controller startsto change welding current I from base current IB toward peak current IPat time point t1 when base current period IBT ends and pulse-risingperiod IPRT starts. The welding controller thus repeats pulse-risingperiod IPRT, peak current period IPT, pulse-falling period IPFT, andbase current IB at pulse frequency PHz (pulse cycle (1/PHz)). Inpulse-rising period IPRT in which welding current I changes from basecurrent IB to peak current IP, molten droplet 23 d starts to grow (stateSa). Then, in peak current period IPT in which welding current I is peakcurrent IP, molten droplet 23 d grows to have an optimal size (stateSb). After that, in pulse-falling period IPFT in which welding current Ichanges from peak current IP to base current IB, molten droplet 23 dbecomes a constriction state (state Sc) forming a constriction which isa portion having a locally small diameter between molten droplet 23 dconnected to welding wire 23 and welding wire 23 immediately beforemolten droplet 23 d is removed from welding wire 23 at the tip ofwelding wire 23 and having a locally small diameter. After that, in basecurrent period IBT in which welding current I is base current IB, moltendroplet 23 d is removed from welding wire 23 (state Sd). In base currentperiod IBT, after molten droplet 23 d is removed (state Sd), moltendroplet 23 d slightly grows to have an increasing size due to a residualheat at the tip of welding wire 23.

In the comparative example of the pulse arc welding device illustratedin FIG. 3, feeding speed WF of welding wire 23 is constant feeding speedWF1 corresponding to the set current of welding current I.

This molten droplet transfer (removal) state is repeated at pulsefrequency PHz to provide a stable welding state and a bead with lessspattering and a preferably appearance.

In the comparative example of the pulse arc welding device illustratedin FIG. 3, arc length H changes in a range between different values H1and H2 in peak current period IPT and base current period IBT. In peakcurrent period IPT, large peak current IP flows in welding wire 23, themelting speed at which welding wire 23 melts larger than feeding speedWF1 increases, and molten droplet 23 d is formed, so that arc length Hbecomes long (Value H2). In base current period IBT, small base currentIB is applied to welding wire 23, the melting speed of welding wire 23becomes smaller than feeding speed WF1, and arc length H becomes short(value H1).

Thus, in one cycle of the pulse waveform, arc length H changes to valueH1 and value H2, and the change is repeated at pulse frequency PHz.Molten droplet 23 d forms a molten pool on object 24 until moltendroplet 23 d moves onto object 24 and solidifies. The molten pool ismade of a molten metal containing a melted portion of object 24. In peakcurrent period IPT, as arc length H temporarily increases to value H2,the molten pool becomes large. The molten pool solidifies to form a beadon object 24. The molten metal to become a bead starts to solidify fromthe edge of the low-temperature bead and the bead center of the hightemperature finally solidifies as the final solidification point. In acase of moving object 24 relatively to torch 26 in the moving direction,the bead is formed to be elongated in the moving direction and the finalsolidification point is the center of the bead in the width directionperpendicular to the moving direction. Therefore, the molten metal atthe time of forming the bead solidifies so as to be pulled at the finalsolidification point. Therefore, as the distance between the bead edgeof the low temperature and the bead center of the high-temperatureincreases, that is, as the molten pool increases, the amount of moltenmetal at the edge of the bead is likely to be insufficient and undercutis likely to be generated.

In the comparative example of the pulse arc welding device, the undercutcan be suppressed by decreasing welding voltage V, decreasing arc lengthH, and reducing the molten pool. However, by molten droplet 23 dbecoming the short-circuit transfer from a spray transfer due to adecrease in welding voltage V, the spattering due to the short-circuitbetween welding wire 23 and object 24 may increase.

In the operation illustrated in FIG. 2 in pulse arc welding device 1001according to Embodiment 1, object 24 can be welded while keeping shortarc length H to be constant so that the size of the weld pool decreasesand short-circuit is not generated also at the time of the high-speedwelding. This operation will be described below. Short arc length Hwhich is not short-circuited ranges, for example, from about 2 mm toabout 3 mm.

In the pulse waveform of welding current I illustrated in FIG. 2,similarly to the pulse waveform illustrated in FIG. 3, molten droplet 23d starts to grow in a pulse-rising period IPRT in which welding currentI changes from base current IB to peak current IP (state Sa). Afterthat, molten droplet 23 d grows to have an optimum size in peak currentperiod IPT in which welding current I is peak current IP (state Sb).After that, in a pulse-falling period IPFT in which welding current Ichanges from peak current IP to base current IB, a constriction state(State Sc) in which a constriction is formed immediately before moltendroplet 23 d is removed from welding wire 23 at the tip of welding wire23 is generated. After that, molten droplet 23 d is removed from weldingwire 23 in base current period IBT in which welding current I is basecurrent IB (state Sd).

The operation illustrated in FIG. 2 is different from the operation ofthe comparative example illustrated in FIG. 3 in feeding speed WF atwhich welding wire 23 is fed. Welding controller 18 b sets feeding speedWF to feeding speed WF1. Welding controller 18 b starts to increasefeeding speed WF toward feeding speed WF2 larger than feeding speed WF1at time point t1 at which pulse-rising period IPRT starts so as to havethe feeding speed WF reach feeding speed WF2. In the operationillustrated in FIG. 2, feeding speed WF reaches feeding speed WF2immediately after starting to increase from feeding speed WF1 at timepoint t1. After that, welding controller 18 b starts to decrease feedingspeed WF from feeding speed WF2 in peak current period IPT towardfeeding speed WF1 in base current period IBT at the time point t3 whenpulse-falling period IPFT starts so as to have feeding speed WF reachfeeding speed WF1. In the operation illustrated in FIG. 2, feeding speedWF reaches feeding speed WF1 immediately after starting to decrease fromfeeding speed WF2 at time point t3.

Welding controller 18 b provides a molten droplet transfer (removal)state while periodically changing feeding speed WF between feedingspeeds WF1 and WF2 at pulse frequency PHz according to the pulsewaveform of welding current I. This operation provides stable weldingstate while keeping the short arc length H to be constant, and providesa bead having no undercut and less spattering and a preferableappearance.

FIG. 4 illustrates welding current I, welding voltage V, feeding speedWF and a state of molten droplet transfer in another operation of pulsearc welding device 1001 for keeping arc length H to be constant. In FIG.4, items identical to those of the operation illustrated in FIG. 2 aredenoted by the same reference numerals. In the operation illustrated inFIG. 4, welding controller 18 b starts to increase feeding speed WF ofwelding wire 23 at a predetermined inclination from feeding speed WF1toward feeding speed WF2 at time point t1 at which pulse-rising periodIPRT starts. After the time point t1, welding controller 18 b maintainsfeeding speed WF to feeding speed WF2 after having feeding speed WFreach feeding speed WF2. After that, welding controller 18 b starts todecrease feeding speed WF from feeding speed WF2 toward feeding speedWF1 at a predetermined inclination at time point t3 at which peakcurrent period IPT ends and pulse-falling period IPFT starts. After timepoint t3, welding controller 18 b maintains feeding speed WF to feedingspeed WF1 after having feeding speed WF reach feeding speed WF1 at timepoint t4.

As illustrated in FIG. 4, welding controller 18 b starts to increasefeeding speed WF at a predetermined inclination from feeding speed WF1toward feeding speed WF2 at time point t1, and preferably to maintainfeeding speed WF at feeding speed WF2 after having feeding speed WFreach feeding speed WF2 at time point t2. In other words, thepredetermined inclination at which feeding speed WF increases fromfeeding speed WF1 to feeding speed WF2 is adjusted preferably to allow aperiod in which feeding speed WF increases from feeding speed WF1 tofeeding speed WF2 to be identical to pulse-rising period IPRT. Further,welding controller 18 b preferably starts to decrease feeding speed WFfrom feeding speed WF2 to feeding speed WF1 at a predeterminedinclination at time point t3, and maintains the feeding speed to feedingspeed WF1 after having feeding speed WF reach feeding speed WF1 at timepoint t4. In other words, the predetermined inclination at which feedingspeed WF decreases from feeding speed WF2 to feeding speed WF1 isadjusted to allow a period in which feeding speed WF decreases fromfeeding speed WF2 to feeding speed WF1 to be identical to pulse-fallingperiod IPFT.

FIG. 5 illustrates feeding speed WF2 of feeding speed WF. In detail,FIG. 5 illustrates a relationship (WF2=WF1+WFU) between feeding speedWF1 and increment WFU which is a difference obtained by subtractingfeeding speed WF1 from feeding speed WF2 for pulse MAG welding in whichwelding wire 23 is made of a mild steel having a diameter of ϕ1.2employing shielding gas 24G (see FIG. 1) composed of mixture of Ar gasand CO2 gas (Ar:CO₂=80:20).

In FIG. 5, the horizontal axis represents feeding speed WF1, and thevertical axis represents increment WFU with respect to feeding speed WF1to feeding speed WF2. For example, in a case where feeding speed WF1 is4 m/min, increment WFU is 1 m/min. In a case where feeding speed WF1 is8 m/min, increment WFU is 2 m/min. In the relationship illustrated inFIG. 5, an increase rate of feeding speed WF2 to feeding speed WF1, thatis, the ratio of the increment WFU to feeding speed WF1 is about 25%. Asfeeding speed WF increases, the welding current I increases so thatmolten droplet 23 d becomes larger. Therefore, when feeding speed WF1increases, the increment WFU increases although the increasing rate offeeding speed WF2 is constant.

The proper increment WFU (increase rate) of feeding speed WF changes dueto the welding conditions, such as the diameter of welding wire 23 andthe material, shielding gas 24G, and can be previously obtained by aconstruction confirmation of an experiment, for example.

For example, as an example in which the material is different, in a casewhere the material of welding wire 23 is stainless steel, the viscosityof the stainless steel is high and molten droplet 23 d is unlikely to beseparated so that molten droplet 23 d tends to be larger than a mildsteel. Therefore, in a case where the material of welding wire 23 isstainless steel, the increment WFU from feeding speed WF1 to feedingspeed WF2 is larger than that a case of a mild steel illustrated in FIG.5.

As an example in which shielding gas 24G is different, in a case of MAGwelding employing shielding gas 24G having a large Ar gas ratio(Ar:CO₂=90:10), molten droplet 23 d is easily removed and tends to besmaller than in a case of MAG welding (Ar:CO₂=80:20). Therefore, theincrement WFU at MAG welding (Ar:CO₂=90:10) having a large Ar gas ratiois smaller than that in a case of MAG welding (Ar:CO₂=80:20) illustratedin FIG. 5.

As an example where the diameter of the wire is different, if thediameter of welding wire 23 becomes larger than ϕ1.2, the size of moltendroplet 23 d accordingly tends to be larger than the diameter of ϕ1.2.Therefore, increment WFU for the diameter of welding wire 23 larger thanϕ1.2 is larger than the diameter ϕ1.2 illustrated in FIG. 5. Conversely,if the diameter of welding wire 23 is smaller than ϕ1.2, molten droplet23 d tends to be smaller than a case where the diameter of welding wire23 is ϕ1.2. Therefore, in the case that the diameter of welding wire 23is smaller than ϕ1.2, increment WFU is smaller than a case where thediameter of welding wire 23 illustrated in FIG. 5 is ϕ1.2.

Even if arc length H is short, the ratio of increment WFU to feedingspeed WF1 ranges basically from 10% to 30% so that short-circuit betweenwelding wire 23 and object 24 may not occur particularly during peakcurrent period IPT and arc length H may be constant. The correlationbetween feeding speed WF1 and increment WFU may be not only a linearfunction illustrated in FIG. 5 but also a quadratic function, andincrement WFU may be determined by a database storing discrete values ofthe difference between feeding speed WF1 and increment WFU.

In a usual pulse arc welding, a large current is applied during the peakcurrent period, the arc length becomes longer due to molten dropletformation due to the earlier wire melting. Then, wire melting is slowdue to the application of a low current in the base current period, sothat arc length becomes shorter.

Therefore, the arc length repeats long and short during one cycle of thepulse. If the arc length is temporarily long, undercut is likely to begenerated at the time of high-speed welding. Even if the arc length isshortened by lowering the voltage so as to suppress the undercut, it isinevitable that the spattering at the short-circuit transfer increases.

In order to suppress spattering, at the time of short-circuiting, theshort-circuit current may be increased to a short-circuit open at apredetermined inclination from the start of the short-circuit. Afterthat, short-circuit current may be sharply reduced to a low value bydetecting the constriction immediately before opening the short-circuit.However, even with this method, spattering may not be reduced so much.

Therefore, the conventional pulse arc welding can hardly suppressundercut and reduce spattering.

As described above, in pulse arc welding device 1001 according toEmbodiment 1, feeding speed WF of welding wire 23 in peak current periodIPT is set to feeding speed WF2, and feeding speed WF changes to thefeeding speeds WF1 and WF2 in synchronization with the switching betweenpeak current IP and base current IB. This configuration provides pulsearc welding in which undercut is suppressed and spattering decreases ofwelding current I.

In pulse arc welding device 1001 according to Embodiment 1, feedingspeed WF of welding wire 23 is changed according to peak current periodIPT and base current period IBT. In particular, feeding speed WF is setto feeding speed WF1 in base current period IBT, and feeding speed WF isset to feeding speed WF2 larger than feeding speed WF1 and correspondsto feeding speed WF1 in peak current period IPT. Accordingly, arc lengthH can be short and constant, and the molten pool can be stably reduced.In addition, the temperature difference between the edge of the bead andthe center of the bead becomes small in the width direction, and themolten metal is unlikely to be pulled toward the center of the bead inthe width direction which is the final solidification point. Therefore,the amount of molten metal at the edge of the bead is unlikely to beinsufficient, so that undercut can be suppressed. Pulse arc weldingdevice 1001 according to Embodiment 1 can provide preferable weldingquality in which undercut is suppressed particularly even at the time ofhigh-speed welding. In addition, in pulse arc welding device 1001according to Embodiment 1, molten droplet 23 d can be in a state ofspray transfer instead of a state of short-circuit transfer in peakcurrent period IPT while suppressing undercut, so that spattering can besuppressed.

If a short-circuit is generated between welding wire 23 and object 24,welding current I becomes short-circuit current IS. In welding powersupply device 18 illustrated in FIG. 1, when short-circuit controller 11receives, from short-circuit/arc detector 10, a signal indicating that ashort-circuit is generated, short-circuit controller 11 controlsshort-circuit current IS so that the short-circuit can be opened.

As when arc controller 12 receives, from short-circuit/arc detector 10,a signal indicating that arc 28 is generated, pulse waveform controller13 outputting a signal of a pulse current waveform based on feedingspeed WF controlled by wire-feeding controller 17 sends, to outputcontroller 7, a pulse waveform parameter, such as peak current IP andbase current IB, that determines the pulse waveform of welding currentI. Feeding speed WF has a correlation with the set current or setcurrent of welding current I set in welding condition setting unit 20 ofarc controller 12. Pulse-rising controller 14 of pulse waveformcontroller 13 outputs a timing signal that starts to increase feedingspeed WF from feeding speed WF1 toward feeding speed WF2 at the timepoint t1 at which pulse-rising period IPRT starts. Pulse-fallingcontroller 16 outputs a timing signal that starts to decrease feedingspeed WF from feeding speed WF2 toward feeding speed WF1 at time pointt3 at which the pulse-falling IPFT starts. Pulse waveform controller 13controls peak current IP and base current IB.

Based on the set current of welding current I set in welding conditionsetting unit 20 of robot controller 19, wire-feeding controller 17 ofthe welding power supply device 18 determines the feeding speed WFcorresponding to the set current, and outputs feeding speed WF. Pulsewaveform controller 13 of arc controller 12 receives feeding speed WFoutput from wire feed controller 17 and outputs a pulse waveformparameter, such as peak current IP, base current IB, pulse-rising periodIPRT, peak current period IPT, and pulse-falling period IPFT, whichdetermines a pulse waveform of welding current I corresponding toreceived feeding speed WF. Based on the signal from wire-feedingcontroller 17, wire feeding unit 25 including the feeding roller feedswelding wire 23.

As described above, pulse arc welding device 1001 is configured to weldan object 24 with a welding wire 23. The pulse arc welding device 1001is controlled so as to weld the object 24 by generating an arc 28between the welding wire 23 and the object 24 by causing a weldingcurrent I to flow through the welding wire 23 while feeding the weldingwire 23 to the object 24 at a feeding speed WF such that the weldingcurrent I alternately repeats a peak current period IPT in which thewelding current I is a peak current IP and a base current period IBT inwhich the welding current I is a base current IB smaller than the peakcurrent IP. The feeding speed WF is controlled so as to keep an arclength H of the arc 28 to be constant. The feeding speed WF is set to afeeding speed WF1 in the base current period IBT. The feeding speed WFis set to a feeding speed WF2 in the peak current period IPT, thefeeding speed WF2 being larger than the feeding speed WF1 andcorresponding to the feeding speed WF1.

The feeding speed WF2 may be larger than the feeding speed WF1 by avalue corresponding to at least one of a diameter and a material of thewelding wire 23.

The pulse arc welding device 1001 may be controlled so as to weld theobject 24 with using a shielding gas 24G. In this case, the feedingspeed WF2 may be larger than the feeding speed WF1 by a valuecorresponding to at least one of the shielding gas 24G and a diameterand a material of the welding wire 23.

The feeding speed WF may start to decrease from the feeding speed WF2toward the feeding speed WF1 simultaneously when the welding current Istarts to fall from the peak current IP toward the base current IB whiletransferring from the peak current period IPT to the base current periodIBT.

The feeding speed WF may be controlled such that a period in which thefeeding speed WF reaches the feeding speed WF2 from the feeding speedWF1 is identical to a period in which the welding current I reaches thepeak current IP from the base current IB. A period identical to a periodmeans not only that the lengths of the periods are identical to eachother, but also that the starting time point of the periods areidentical to each other and the ending time points of the periods areidentical to each other.

The feeding speed WF may be controlled such that a period in which thefeeding speed WF reaches the feeding speed WF1 from the feeding speedWF2 is identical to a period in which the welding current I reaches thebase current IB from the peak current IP.

The feeding speed WF2 may be larger than the feeding speed WF1 by avalue ranging from 10% to 30% of the feeding speed WF1.

As described above, in the pulse arc welding control method and pulsearc welding device 1001 according to the present embodiment, in peakcurrent period IPT in which arc length H is long, feeding speed WFincreases to feeding speed WF2 which is larger than feeding speed WF1and corresponds to feeding speed WF1. Accordingly, arc length H in peakcurrent period IPT can be equal to that in base current period IBT, anddecreases to generate no short-circuiting. Accordingly, molten droplet23 d is removed from welding wire 23 in the spray transfer state withoutentering into the short-circuit transfer state, spattering accompanyinggeneration of a short-circuit is not generated, and almost no spatteringcan be generated. Accordingly, a preferable welding quality suppressingundercut even at the time of high-speed welding can be realized.

Exemplary Embodiment 2

FIG. 6 is a schematic configuration diagram of pulse arc welding device1002 according to Exemplary Embodiment 2. In FIG. 6, componentsidentical to those of pulse arc welding device 1001 according toEmbodiment 1 illustrated in FIG. 1 are denoted by the same referencenumerals. Welding controller 18 b of pulse arc welding device 1002according to Embodiment 2 includes a molten droplet removal detector 30that detects a time point at which molten droplet 23 d is removed fromwelding wire 23. Molten droplet removal detector 30 detects constriction23 p having a locally small diameter formed between molten droplet 23 dconnected to welding wire 23 and welding wire 23, thereby detecting thetime point of the removal of molten droplet 23 d.

FIG. 7A illustrates welding current I, welding voltage V, feeding speedWF of welding wire 23, and a state of molten droplet transfer in theoperation of pulse arc welding device 1002. In FIG. 7A, items identicalto those of the operation of pulse arc welding device 1001 according toEmbodiment 1 illustrated in FIGS. 4 and 5 are denoted by the samereference numerals. In pulse arc welding device 1002 according toEmbodiment 2, welding controller 18 b sets feeding speed WF of weldingwire 23 to feeding speed WF1 in base current period IBT. Weldingcontroller 18 b sets feeding speed WF of welding wire 23 to feedingspeed WF2 which is larger than feeding speed WF1 in peak current periodIPT. After that, welding controller 18 b starts to decrease feedingspeed WF toward feeding speed WF3 which is smaller than feeding speedWF1 and have feeding speed WF reach feeding speed WF3 at time point t3at which pulse-falling period IPFT starts. After that, weldingcontroller 18 b maintains feeding speed WF at feeding speed WF3 andkeeps arc length H to be constant until detecting the removal of moltendroplet 23 d from welding wire 23.

Welding current I, welding voltage V, a state of molten droplettransfer, and feeding speed WF of pulse arc welding device 1002illustrated in FIG. 7A will be detailed below. Molten droplet 23 dstarts to grow (state Sa) at time point t1 at which pulse-rising periodIPRT in which welding current I changes from base current IB to peakcurrent IP starts. After that, molten droplet 23 d grows until moltendroplet 23 d has an optimum size in peak current period IPT in whichwelding current I is peak current IP (state Sb). After that, inpulse-falling period IPFT in which welding current I changes from peakcurrent IP to base current IB, a constriction state in whichconstriction 23 p is formed is provided immediately before moltendroplet 23 d is removed from the tip of welding wire 23 (state Sc).After that, molten droplet 23 d is removed from welding wire 23 in basecurrent period IBT in which welding current I is base current IB (stateSd).

The control of feeding speed WF for feeding welding wire 23 is a maindifference between the operation illustrated in FIG. 7A and theoperation according to Embodiment 1 illustrated in FIG. 4. In theoperation illustrated in FIG. 7A, welding controller 18 b increasesfeeding speed WF at a predetermined inclination from feeding speed WF1in base current period IBT toward feeding speed WF2 at time point t1 atwhich base pulse period IBT ends and pulse-rising period IPRT starts soas to reach feeding speed WF2. In the operation of Embodiment 2,similarly to the operation of Embodiment 1, feeding speed WF reachesfeeding speed WF2 at time point t2 at which pulse-rising period IPRTends and peak current period IPT starts. After that, welding controller18 b starts to decrease feeding speed WF at a predetermined inclinationfrom feeding speed WF2 of peak current period IPT toward feeding speedWF3 of base current period IBT which is smaller than feeding speed WF1at time point t3 at which peak current period IPT ends and pulse-fallingperiod IPFT starts, and maintains feeding speed WF3 after reachingfeeding speed WF3. After that, welding controller 18 b starts toincrease feeding speed WF from feeding speed WF3 to feeding speed WF1 atremoval time point td at which droplet removal detector 30 detectsremoval of molten droplet 23 d from welding wire 23, and maintains atfeeding speed WF1 after reaching feeding speed WF1.

The operation of pulse arc welding device 1002 according to Embodiment 2particularly when changing from peak current period IPT to base currentperiod IBT will be detailed below. FIG. 7B is an enlarged view offeeding speed WF of portion MA illustrated in FIG. 7A for illustratingfeeding speed WF before and after removal time point td when the removalof molten droplet 23 d is detected. As illustrated in FIG. 7A, weldingcontroller 18 b starts to decrease feeding speed WF at a predeterminedinclination from feeding speed WF2 of peak current period IPT towardfeeding speed WF3 at time point t3. Then, as illustrated in FIG. 7B,welding controller 18 b maintains feeding speed WF3 after reachingfeeding speed WF3. In the operation according to Embodiment 2, whilefeeding speed WF decreases from feeding speed WF2 to feeding speed WF3,similarly to the operation in accordance with Embodiment 1 illustratedin FIG. 4, feeding speed WF becomes feeding speed WF1 at time point t4.After that, welding controller 18 b continues to further decreasefeeding speed WF toward feeding speed WF3 at the same predeterminedinclination, and then, have feeding speed WF reach feeding speed WF3 atthe time point t41 and then, maintains feeding speed WF at feeding speedWF3. After that, welding controller 18 b starts to increase feedingspeed WF from feeding speed WF3 to feeding speed WF1 at removal timepoint td at which droplet removal detector 30 detects removal of moltendroplet 23 d from welding wire 23, feeding speed WF1 is maintained afterreaching feeding speed WF1. After that, as illustrated in FIG. 7A,welding controller 18 b maintains feeding speed WF at feeding speed WF1until time point t1 at which base current period IBT ends.

As described above, in the pulse arc welding control method according toEmbodiment 2, in addition to Embodiment 1 described above, feeding speedWF which is decreased from feeding speed WF2 which is larger thanfeeding speed WF1 to feeding speed WF3 which is smaller than feedingspeed WF1 starts to increase to feeding speed WF1 which is smaller thanfeeding speed WF2 at removal time td when the removal of molten droplet23 d is detected. Immediately before molten droplet 23 d is removed fromthe tip of welding wire 23, constriction 23 p is formed between moltendroplet 23 d connected to welding wire 23 and welding wire 23. Moltendroplet removal detector 30 of welding controller 18 b according toEmbodiment 2 monitors welding voltage V, determines removal time td atwhich molten droplet 23 d is removed based on a time point at which itis detected that constriction 23 p is formed.

By repeating this molten droplet transfer (removal) state illustrated inFIG. 7A at pulse frequency PHz, a stable welding state can be realizedwhile keeping the short arc length H to be constant, and a bead havingless undercut and less spattering and a preferable appearance isobtained.

Feeding speed WF3 is smaller than feeding speed WF1 by a valuecorresponding to at least one of welding conditions including thematerial of welding wire 23 and shielding gas 24G.

FIG. 8 illustrates the relationship between feeding speeds WF1 and WF3.Specifically, FIG. 8 illustrates a relationship (WF1+WFD=WF3) betweenfeeding speed WF1 and decrement WFD which is the difference obtained bysubtracting feeding speed WF1 from feeding speed WF3 in pulse MAGwelding with welding wire 23 is made of a mild steel having a diameterof ϕ1.2 and shielding gas 24G made of mixture of Ar gas and CO₂ gas(Ar:CO₂=80:20).

In FIG. 8, the horizontal axis represents feeding speed WF1, and thevertical axis represents decrement WFD. For example, in a case wherefeeding speed WF1 is 4 m/min, decrement WFD is −0.5 m/min. In a casewhere feeding speed WF1 is 8 m/min, decrement WFD is −0.75 m/min.

According to the material of welding wire 23 at molten droplet transfer(removal), constriction 23 p may become large and molten droplet 23 dmay be elongated. Based on the relationship illustrated in FIG. 8,feeding speed WF is set to be smaller than feeding speed WF1 accordingto the elongation of molten droplet 23 d, arc length H is kept to beconstant. Since welding current I increases as feeding speed WFincreases, molten droplet 23 d and constriction 23 p tend to becomelonger. Therefore, decrement WFD from feeding speed WF1 to feeding speedWF3 increases accordingly.

Appropriate decrement WFD changes depending on the wire material ofwelding wire 23 and the welding conditions, such as the shielding gas,and can be obtained by a construction verification, such as experiments,for example.

For example, as an example in which the material is different, in a casewhere the material of welding wire 23 is stainless steel, the viscosityof the stainless steel is high and molten droplet 23 d is difficult tobe removed, so that molten droplet 23 d and constriction 23 p tend to belong. Therefore, decrement WFD to feeding speed WF3 with respect tofeeding speed WF1 tends to be larger than decrement WFD in a case wherewelding wire 23 illustrated in FIG. 8 is made of mild steel.

In addition, as an example in which shielding gas 24G is different, in acase of MAG welding employing shielding gas 24G (Ar:CO₂=90:10) with alarge proportion of Ar gas, molten droplet 23 d can be easily removed,molten droplet 23 d and constriction 23 p tend to be shorter thandecrement WFD in the MAG welding using shielding gas 24G (Ar:CO₂=80:20)illustrated in FIG. 8. Therefore, the decrement WFD to feeding speed WF3with respect to feeding speed WF1 tends to be smaller than a case of MAGwelding (Ar:CO₂=80:20) illustrated in FIG. 8.

The relationship between feeding speed WF1 and the decrement WFD may benot only a quadratic function but also a linear function, and decrementWFD may be determined by a database that stores discrete values offeeding speed WF1 and decrement WFD.

In pulse arc welding device 1001 illustrated in FIG. 6, molten dropletremoval detector 30 monitors welding voltage V detected by weldingvoltage detector 8 in real time, and obtains a time-differentiated valueobtained by differentiating welding voltage V with time. At the timepoint when the time derivative value of welding voltage V exceeds apredetermined value, molten droplet removal detector 30 supplies dropletremoval signal Cd to wire-feeding controller 17. Then, when the timedifferentiated value is equal to or less than the predetermined value,molten droplet removal detector 30 does not supply droplet removalsignal Cd to wire-feeding controller 17. A time point when the timedifferential value of welding voltage V exceeds the predetermined valueis determined as removal time point td when molten droplet 23 d isremoved from welding wire 23. Welding controller 18 b starts to increasefeeding speed WF from feeding speed WF3 toward feeding speed WF1 whenwelding controller 18 b detects that the time differential value ofwelding voltage V exceeds a predetermined value indicating a state whereconstriction 23 p of molten droplet 23 d is formed from a state wherefeeding speed WF decreases from time point t3 at which pulse-fallingperiod IPFT starts to increase feeding speed WF toward the feeding speedWF3.

Pulse waveform controller 13 of pulse arc welding device 1002 outputsthe pulse waveform of welding current I based on the setting current setin welding condition setting unit 20 or feeding speed WF controlled bywire-feeding controller 17. Pulse-rising controller 14 of pulse waveformcontroller 13 transmits a signal which starts to increase feeding speedWF of welding wire 23 toward feeding speed WF2 which is larger thanfeeding speed WF1 in base current period IBT at time point t1 whenpulse-rising period IPRT which transits from base current period IBT topeak current period IPT starts. Pulse-falling controller 16 transmits asignal which starts to decrease feeding speed WF from feeding speed WF2toward feeding speed WF3 smaller than feeding speed WF1 at time point t3at which pulse-falling period IPFT that transits from peak currentperiod IPT to base current period IBT starts.

As described above, pulse arc welding device 1002 is controlled suchthat constriction 23 p is produced between welding wire 23 and moltendroplet 23 d in a case where welding wire 23 is molten to form moltendroplet 23 d by flowing welding current I through welding wire 23.Molten droplet 23 d is connected to welding wire 23. When transferringfrom peak current period IPT to base current period IBT, weldingcontroller 18 b decreases feeding speed WF from feeding speed WF2 tofeeding speed WF3 which is smaller than feeding speed WF1 andcorresponds to feeding speed WF1. Welding controller 18 b increasesfeeding speed WF from feeding speed WF3 to feeding speed WF1 whendetecting that constriction 23 p is produced. Feeding speed WF may bemaintained at feeding speed WF1 until the base current period IBT endsin a step of increasing feeding speed WF from feeding speed WF3 tofeeding speed WF1 after feeding speed WF increases to feeding speed WF1.

Feeding speed WF3 may be smaller than feeding speed WF1 by a valuecorresponding to at least one of the material of welding wire 23 andshielding gas 24G.

As described above, in the pulse arc welding control method and pulsearc welding device 1002 in accordance with Embodiment 2, in peak currentperiod IPT in which arc length H becomes longer, feeding speed WF ofwelding wire 23 increases to the feeding speed which is larger thanfeeding speed WF1 at base current period IBT. In addition to this,according to the material of welding wire 23, in a case whereconstriction 23 p increases and molten droplet 23 d is elongated at thetime of the molten droplet transfer (removal), feeding speed WFdecreases to feeding speed WF3 which is smaller than feeding speed WF1by a value corresponding to the elongation thereof and feeding speed WFincreases to feeding speed WF1 at removal time td at which moltendroplet transfer (removal detection) is detected. As described above,welding controller 18 b adjusts feeding speed WF of welding wire 23according to the material of welding wire 23 and welding conditions,such as shielding gas 24G. Accordingly, similarly to base current periodIBT including peak current period IPT, arc length H can be maintainedsmall enough not to short-circuit, and the welding can be performed inthe spray transfer state instead of the short-circuit transfer.Therefore, almost no spattering accompanying generation of ashort-circuit can be generated. As described above, in pulse arc weldingdevice 1002 according to Embodiment 2, arc length H of peak currentperiod IPT can be small, arc length H between peak current period IPTand base current period IBT can be short and constant, and a preferablewelding quality in which spattering is significant1 y reduced andundercut is suppressed even during high-speed welding can be realized.

INDUSTRIAL APPLICABILITY

A pulse arc welding control method according to the present inventionprovides a bead having an excellent appearance in which the generationof spatter can be reduced, provides a short arc length, and suppressesundercut even at high-speed welding. This method is useful to a pulsearc welding device employing a welding wire as a consumable electrode toperform arc welding while being continuously fed with the welding wire.

REFERENCE MARKS IN THE DRAWINGS

-   I welding current-   V welding voltage-   WF feeding speed-   H arc length-   IP peak current-   IB base current-   IBT base current period-   IPRT pulse-rising period-   IPT peak current period-   IPFT pulse-falling period-   PHz pulse frequency-   WF1 feeding speed (first feeding speed)-   WF2 feeding speed (second feeding speed)-   WF3 feeding speed (third feeding speed)-   1 input power supply-   2 primary rectifier-   3 switching element-   4 transformer-   5 secondary rectifier-   6 reactor-   7 output controller-   8 welding voltage detector-   9 welding current detector-   10 short-circuit/arc detector-   11 short-circuit controller-   12 arc controller-   13 pulse waveform controller-   14 pulse-rising controller-   15 peak-current controller-   16 pulse-falling controller-   17 wire-feeding controller-   18 welding power supply device-   19 robot controller-   20 welding condition setting unit-   21 robot-   22 welding wire storage unit-   23 welding wire-   24 object-   25 wire feeder-   26 torch-   27 chip-   28 arc-   29 a output terminal-   29 b output terminal-   30 molten droplet removal detector

The invention claimed is:
 1. A method for controlling pulse arc welding,the method comprising: providing a pulse arc welding device that weldsan object with a welding wire; controlling the pulse arc welding deviceso as to weld the object by generating an arc between the welding wireand the object by causing a welding current to flow through the weldingwire while feeding the welding wire to the object at a feeding speedsuch that the welding current alternately repeats a peak current periodin which the welding current is a peak current and a base current periodin which the welding current is a base current smaller than the peakcurrent; and controlling the feeding speed so as to keep an arc lengthof the arc constant, wherein the controlling of the feeding speedcomprises: setting the feeding speed to a first feeding speed in thebase current period; setting the feeding speed to a second feeding speedin the peak current period, the second feeding speed being larger thanthe first feeding speed and corresponding to the first feeding speed;starting to increase the feeding speed from the first feeding speedtoward the second feeding speed simultaneously when the welding currentstarts to rise from the base current toward the peak current whiletransferring from the base current period to the peak current period ina pulse-rising period; starting to decrease the feeding speed from thesecond feeding speed toward the first feeding speed simultaneously whenthe welding current starts to fall from the peak current toward the basecurrent while transferring from the peak current period to the basecurrent period in a pulse-falling period; and ramping the weldingcurrent in the pulse-rising period and in the pulse-falling period. 2.The method of claim 1, wherein the second feeding speed is larger thanthe first feeding speed by a value corresponding to at least one of adiameter of the welding wire and a material of the welding wire.
 3. Themethod of claim 1, wherein the controlling of the pulse arc weldingdevice comprises controlling the pulse arc welding device so as to weldthe object using a shielding gas by generating the arc between thewelding wire and the object by causing the welding current to flowthrough the welding wire while feeding the welding wire to the object atthe feeding speed such that the welding current alternately repeats thepeak current period and the base current period, and wherein the secondfeeding speed is larger than the first feeding speed by a valuecorresponding to at least one of the shielding gas, a diameter of thewelding wire, and a material of the welding wire.
 4. The method of claim1, wherein the controlling of the feeding speed further comprisescontrolling the feeding speed such that a period in which the feedingspeed reaches the second feeding speed from the first feeding speed isidentical to a period in which the welding current reaches the peakcurrent from the base current.
 5. The method of claim 1, wherein thecontrolling of the feeding speed further comprises controlling thefeeding speed such that a period in which the feeding speed reaches thefirst feeding speed from the second feeding speed is identical to aperiod in which the welding current reaches the base current from thepeak current.
 6. The method of claim 1, wherein the controlling of thepulse arc welding device comprises controlling the pulse arc weldingdevice such that a molten droplet is generated by melting the weldingwire by flowing the welding current through the welding wire to generatea constriction between the welding wire and the molten droplet while themolten droplet is connected to the welding wire, wherein the controllingof the feeding speed further comprises: decreasing the feeding speedfrom the second feeding speed to a third feeding speed that is smallerthan the first feeding speed and corresponds to the first feeding speedwhile transferring from the peak current period to the base currentperiod; and increasing the feeding speed from the third feeding speedtoward the first feeding speed when detecting the generatedconstriction, and wherein each of the first feeding speed, the secondfeeding speed, and the third feeding speed is a speed at which thewelding wire is fed toward the object.
 7. The method of claim 6, whereinthe controlling of the feeding speed further comprises maintaining thefeeding speed at the first feeding speed until the base current periodends after increasing the feeding speed to the first feeding speedduring the increasing of the feeding speed from the third feeding speedtoward the first feeding speed.
 8. The method of claim 6, wherein thethird feeding speed is smaller than the first feeding speed by a valuecorresponding to at least one of a material of the welding wire and ashielding gas.
 9. The method of claim 1, wherein the second feedingspeed is larger than the first feeding speed by a value ranging from 10%to 30% of the first feeding speed.
 10. A method for controlling pulsearc welding, the method comprising: providing a pulse arc welding devicethat welds an object with a welding wire; controlling the pulse arcwelding device so as to weld the object by generating an arc between thewelding wire and the object by causing a welding current to flow throughthe welding wire while feeding the welding wire to the object at afeeding speed such that the welding current alternately repeats a peakcurrent period in which the welding current is a peak current and a basecurrent period in which the welding current is a base current smallerthan the peak current; and controlling the feeding speed so as to keepan arc length of the arc constant, wherein the controlling of the pulsearc welding device comprises controlling the pulse arc welding devicesuch that a molten droplet is generated by melting the welding wire byflowing the welding current through the welding wire to generate aconstriction between the welding wire and the molten droplet while themolten droplet is connected to the welding wire, wherein the controllingof the feeding speed comprises: setting the feeding speed to a firstfeeding speed in the base current period; and setting the feeding speedto a second feeding speed in the peak current period, the second feedingspeed being larger than the first feeding speed and corresponding to thefirst feeding speed; decreasing the feeding speed from the secondfeeding speed to a third feeding speed that is smaller than the firstfeeding speed and corresponds to the first feeding speed whiletransferring from the peak current period to the base current period;and increasing the feeding speed from the third feeding speed toward thefirst feeding speed when detecting the generated constriction, andwherein each of the first feeding speed, the second feeding speed, andthe third feeding speed is a speed at which the welding wire is fedtoward the object.